2019/12/03 by Rio Mukaide, Mukaide, Rio, Kenjiro Tadakuma +14 · 1 citation
Computer Science · Engineering · #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Robot Manipulation and Learning #Robotics (cs.RO) #Soft Robotics and Applications #cs.RO
paper · pdf · doi:10.48550/arxiv.1912.01291
7 pages, 11 figures
arxiv created 2019/12/03 · openalex publication_date 2019/12/03 · arxiv updated 2019/12/04 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Grippers can be attached to objects in a rigid mode, and they are therefore used in various applications, for example granular jamming gripper. This paper introduces a cutting-edge radial layer jamming mechanism with is tunable stiffness, which is critical for the development of grippers. The layer jamming mechanism generates friction between the layers of multi cylindrical walls by pulling wire. This paper describes the principles of three types of proposed tendon-driven jamming mechanism, in addition to their prototypes of string configuration and the experiments conducted on the holding torques of their joints. Due to the string configuration, the surface and three-dimensional (3D) shape. This mechanism can be implemented in various applications.